allow steer if minSteerSpeed is <= 0

3 years ago · fef4b0c428
parent 7eb9416f6b
commit fef4b0c428
1 changed files with 2 additions and 0 deletions
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@ -72,6 +72,8 @@ class CarState(CarStateBase):
        self.lkas_allowed_speed = True
      elif speed_kph < LKAS_LIMITS.DISABLE_SPEED:
        self.lkas_allowed_speed = False
+    else:
+      self.lkas_allowed_speed = True

    # TODO: the signal used for available seems to be the adaptive cruise signal, instead of the main on
    #       it should be used for carState.cruiseState.nonAdaptive instead